MecanumDrive odometry and tf functions implementation

[danilogsch]

Signed-off-by: danilo_gsch danilo_gsch@hotmail.com
Danilo Schneider

🎉 New feature

Closes #683 #1619

Summary

Implementation of Mecanum drive odometry and tf based on the implementation of the Differential robot.

Test it

Run mecanum_drive.sdf and listen for odometry and tf topics.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[danilogsch]

Depends on #486

[azeey]

Waiting on gazebosim/gz-math#486

[mjcarroll]

@danilogsch if you can address feedback on the math pull request, I can begin reviewing this one.

[mjcarroll]

@danilogsch the math PR has been landed, can you add a test here to verify the behavior of the system?

[azeey]

I've removed the beta label. We can merge this after Harmonic is released.

[muttistefano]

Hi all, any information regarding when this PR will be included?
I see some failures in the automatic build, is this due to the PR or still the math dependency ?
In case I can help.
Thanks

[azeey]

I didn't realize #2297 replaced this. Closing.